The nonholonomic mechanics is concerned with study of systems the motion of which is subject to constraints on time.positions and velocities.As conjectured by Chetaev[1] in early 30s of the last century.constrained dynamics can be understood as motions in the original configuration space subject to reactive forces expressing the constraints.However.up to now, within the classical approach, only Lagrangian systems subject to linear integrable constraints have been well-understood.In case of non-integrable, or even non-liner constraints, a satisfactory.